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<div class="title">cppTypes.h</div>  </div>
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<a href="../../d9/d8e/cpp_types_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef PROJECT_CPPTYPES_H</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define PROJECT_CPPTYPES_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Dense&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d99/c_types_8h.html">cTypes.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// Rotation Matrix</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">   18</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 3, 3&gt;;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// 2x1 Vector</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">   22</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 2, 1&gt;;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// 3x1 Vector</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">   26</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 3, 1&gt;;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// 4x1 Vector</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">   30</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 4, 1&gt;;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// 6x1 Vector</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a27bb8a600520708a5928332e4e52a92e">   34</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a27bb8a600520708a5928332e4e52a92e">Vec6</a> = Eigen::Matrix&lt;T, 6, 1&gt;;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// 10x1 Vector</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">   38</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a> = Eigen::Matrix&lt;T, 10, 1&gt;;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">// 12x1 Vector</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">   42</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a> = Eigen::Matrix&lt;T, 12, 1&gt;;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// 18x1 Vector</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a28d630783cecf8575d068f597c3793f3">   46</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a28d630783cecf8575d068f597c3793f3">Vec18</a> = Eigen::Matrix&lt;T, 18, 1&gt;;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">// 28x1 vector</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a77d3aab5f7fb8aa5d03d9a716ed5653a">   50</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a77d3aab5f7fb8aa5d03d9a716ed5653a">Vec28</a> = Eigen::Matrix&lt;T, 28, 1&gt;;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// 3x3 Matrix</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">   54</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 3, 3&gt;;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// 4x1 Vector</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">   58</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 4, 1&gt;;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">// Spatial Vector (6x1, all subspaces)</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">   62</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 6, 1&gt;;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">// Spatial Transform (6x6)</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a217c4c7a22cd434b9700b183b07f1505">   66</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a217c4c7a22cd434b9700b183b07f1505">SXform</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 6, 6&gt;;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">// 6x6 Matrix</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">   70</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 6, 6&gt;;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">// 12x12 Matrix</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">   74</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 12, 12&gt;;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">// 18x18 Matrix</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#aab83e4a81d3b54a13732c0d6fe6896f8">   78</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aab83e4a81d3b54a13732c0d6fe6896f8">Mat18</a> = Eigen::Matrix&lt;T, 18, 18&gt;;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">// 28x28 Matrix</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a5a3afe8ece84361450c2779a7c051c69">   82</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5a3afe8ece84361450c2779a7c051c69">Mat28</a> = Eigen::Matrix&lt;T, 28, 28&gt;;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">// 3x4 Matrix</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">   86</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a> = Eigen::Matrix&lt;T, 3, 4&gt;;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">// 3x4 Matrix</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a6d377411d3fe1275cc51a4fccab47d94">   90</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6d377411d3fe1275cc51a4fccab47d94">Mat23</a> = Eigen::Matrix&lt;T, 2, 3&gt;;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">// 4x4 Matrix</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">   94</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 4, 4&gt;;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">// 10x1 Vector</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">   98</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 10, 1&gt;;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">// Dynamically sized vector</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">  102</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, Eigen::Dynamic, 1&gt;;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">// Dynamically sized matrix</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">  106</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic&gt;;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment">// Dynamically sized matrix with spatial vector columns</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">  110</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 6, Eigen::Dynamic&gt;;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">// Dynamically sized matrix with cartesian vector columns</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">  114</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;T, 3, Eigen::Dynamic&gt;;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">// std::vector (a list) of Eigen things</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">  118</a></span>&#160;<span class="keyword">using</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a> = <span class="keyword">typename</span> std::vector&lt;T, Eigen::aligned_allocator&lt;T&gt;&gt;;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">  120</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> { <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">CHEETAH_3</a>, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">MINI_CHEETAH</a> };</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif  // PROJECT_CPPTYPES_H</span></div><div class="ttc" id="c_types_8h_html"><div class="ttname"><a href="../../d0/d99/c_types_8h.html">cTypes.h</a></div><div class="ttdoc">Common types that are only valid in C++. </div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0231caceb234a1eace8c03dda00431dd"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0231caceb234a1eace8c03dda00431dd">D6Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, Eigen::Dynamic &gt; D6Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00110">cppTypes.h:110</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5a3afe8ece84361450c2779a7c051c69"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5a3afe8ece84361450c2779a7c051c69">Mat28</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 28 &gt; Mat28</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00082">cppTypes.h:82</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ada3d7962220cc81b232609a200370584"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 12, 12 &gt; Mat12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00074">cppTypes.h:74</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a77d3aab5f7fb8aa5d03d9a716ed5653a"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a77d3aab5f7fb8aa5d03d9a716ed5653a">Vec28</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 1 &gt; Vec28</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00050">cppTypes.h:50</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5e48cf69558cf96d92f71803cf9d19a4"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 4 &gt; Mat4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00094">cppTypes.h:94</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a217c4c7a22cd434b9700b183b07f1505"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a217c4c7a22cd434b9700b183b07f1505">SXform</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; SXform</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00066">cppTypes.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a28d630783cecf8575d068f597c3793f3"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a28d630783cecf8575d068f597c3793f3">Vec18</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 1 &gt; Vec18</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00046">cppTypes.h:46</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a9a619c10ca4afba68f09ef05ab2364c6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 3, 4 &gt; Mat34</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00086">cppTypes.h:86</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a190e396ab8cb0eb974ad2a5195edcb24"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a190e396ab8cb0eb974ad2a5195edcb24">D3Mat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, Eigen::Dynamic &gt; D3Mat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00114">cppTypes.h:114</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3ed2d7a1fdebc191497c0cc0ab0a870b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 2, 1 &gt; Vec2</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00022">cppTypes.h:22</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5b5c9415b99af20473201414cb37ad43"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 10, 1 &gt; Vec10</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00038">cppTypes.h:38</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a87f228860242acc66da2e58086d18cec"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; Vec12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00042">cppTypes.h:42</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aab83e4a81d3b54a13732c0d6fe6896f8"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aab83e4a81d3b54a13732c0d6fe6896f8">Mat18</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; Mat18</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00078">cppTypes.h:78</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ad7673cd2189f78a761c3a51d9c1314b1"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 10, 1 &gt; MassProperties</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00098">cppTypes.h:98</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6d377411d3fe1275cc51a4fccab47d94"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6d377411d3fe1275cc51a4fccab47d94">Mat23</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 2, 3 &gt; Mat23</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00090">cppTypes.h:90</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a27bb8a600520708a5928332e4e52a92e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a27bb8a600520708a5928332e4e52a92e">Vec6</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 6, 1 &gt; Vec6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00034">cppTypes.h:34</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
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